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registered by an algorithm running on exhaustive research 
(Mussio & Pozzoli, 2003a,b). Each pair gives four solutions, 
among those only the decision of the user would allow to select 
the proper one. By comparing all sixteen small blocks 
originated from the tern of images, it is possible to choose the 
true solution in automatic way. Finally, the object 
reconstruction is completed by computing absolute orientation, 
for which a linear parameterization already published in the 
above mentioned papers is applied. 
Advantages of this method are twofold. First of all, the three- 
image approach is based on a more reliable configuration with 
respect to simple relative orientation of a pair. This fact will 
result. very important when dealing with image matching 
algorithms, which are really error prone. Concerning this issue, 
further developments concerning application of robust 
technique to reject blunders are expected; in particular we look 
with great interest to the use of high breakdown point 
estimators, such as RANSAC (Fischler & Bolles, 1981) and 
Least Median Squares (Rousseeuw & Leroy, 1987), which are 
themselves based on the exploration of enough sub-samples 
randomly extracted from the whole dataset. A possible 
combination of exhaustive research and random sampling 
devises to be analyzed in detail, exploring the way proposed by 
Torr et al. (1995). 
Secondly, the method is very suitable to provide initial values 
of the unknowns to solve for machine vision or complex 
photogrammetric problems (c.g. bundle adjustment, orientation 
of more then three cameras or video cameras). Being only based 
on typical parameterization of photogrammetry (symmetric 
relative orientation and absolute orientation), derived geometric 
parameters can be easily flow into block adjustments involving 
several terns of images (see e.g. Niini, 2000), in easier way with 
respect to methods based on algebraic linear formulations of 
relative orientation or on the /rifocal tensor. 
Concerning future developments and applications, the use in 
image sequence analysis seems to be very promising, being the 
three video camera configuration widely adopted. Especially if 
the relative positions of cameras is not fixed, the exhaustive 
research method could upgrade orientations in real time, 
because the searching space is limited by the knowledge of 
previous parameters. 
Finally integration of self-calibration in this approach would be 
necessary to extend this use of any kinds of imagery sensor. 
9, REFERENCES 
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